Transferring Files to the Glider
Slocum G2 Glider Operators Training Guide
TELEDYNE WEBB RESEARCH
29
Rev. 06/12
surfac03.ma
behavior_name=surface
# climb to surface with ballast pump full out
# pitch servo'ed to 26 degrees
# Hand Written
# 10 July 2010 [email protected] based on legacy surfac10.ma
# 08 June 2012 [email protected] increased surface time to "normal"
# Come up briefly if "yo" finishes
# This happens if a bad altimeter hit causes a dive and climb to
# complete in same cycle. We surface and hopefully yo restarts
# or change keystroke_wait_time if surfacing for num_half_cycles_to_do
<start:b_arg>
b_arg: start_when(enum) 2 # 0-immediately, 1-stack idle 2-pitch idle
3-heading idle
b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2
resume, 3 drift til "end_wpt_dist"
b_arg: gps_wait_time(s) 300 # how long to wait for gps
b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C
b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface,
only if start_when==7
b_arg: c_use_pitch(enum) 3 # 3:servo
b_arg: c_pitch_value(X) 0.4528 # 26 deg
<end:b_arg>
surfac04.ma
behavior_name=surface
# climb to surface with ballast pump full out
# pitch servo'ed to 26 degrees
# Hand Written
# 10 July 2010 [email protected] based on legacy surfac10.ma
# Come up every way point
<start:b_arg>
b_arg: start_when(enum) 8 # 8-when hit waypoint
b_arg: end_action(enum) 1 # 0-quit, 1 wait for ^C quit/resume, 2
resume, 3 drift til "end_wpt_dist"
b_arg: gps_wait_time(s) 300 # how long to wait for gps
b_arg: keystroke_wait_time(sec) 300 # how long to wait for control-C
b_arg: when_wpt_dist(m) 10 # how close to waypoint before surface,
only if start_when==7
b_arg: c_use_pitch(enum) 3 # 3:servo
b_arg: c_pitch_value(X) 0.4528 # 26 deg
b_arg: printout_cycle_time(sec) 60.0 # How often to print dialog
<end:b_arg>
Summary of Contents for Slocum G2
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